Visual odometry based on binocular catadioptric panoramic camera

Yu Zhang; Xiping Xu; Yaowen Lv; Kailin Zhang

doi:10.1117/12.2606363

24 November 2021 Visual odometry based on binocular catadioptric panoramic camera

Yu Zhang, Xiping Xu, Yaowen Lv, Kailin Zhang

Proceedings Volume 12069, AOPC 2021: Novel Technologies and Instruments for Astronomical Multi-Band Observations; 120690M (2021) https://doi.org/10.1117/12.2606363
Event: Applied Optics and Photonics China 2021, 2021, Beijing, China

Abstract

In order to solve the lack of scale information in the camera pose estimated by the monocular catadioptric panoramic camera visual odometry, we propose a binocular catadioptric panoramic camera visual odometry method. By analyzing the projection model of the catadioptric panoramic camera, the calculation method of spherical parallax is analyzed in the binocular panoramic system, and then the depth information of the space point is calculated, and the camera's pose is solved through the 3D-2D feature point matching. The experimental verification on the public data set shows that our method is 23% more accurate than the monocular catadioptric panoramic camera visual odometry method.

Citation Download Citation

Yu Zhang, Xiping Xu, Yaowen Lv, and Kailin Zhang "Visual odometry based on binocular catadioptric panoramic camera", Proc. SPIE 12069, AOPC 2021: Novel Technologies and Instruments for Astronomical Multi-Band Observations, 120690M (24 November 2021); https://doi.org/10.1117/12.2606363

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